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Paper WeC06.2

Kaelbling, Leslie (MIT), Lozano-Perez, Tomas (MIT)

Unifying Perception, Estimation and Action for Mobile Manipulation Via Belief Space Planning

Scheduled for presentation during the Regular Session "Mobile Manipulation: Planning & Control" (WeC06), Wednesday, May 16, 2012, 14:45−15:00, Meeting Room 6 (Oya'te)

2012 IEEE International Conference on Robotics and Automation, May 14-18, 2012, RiverCentre, Saint Paul, Minnesota, USA

This information is tentative and subject to change. Compiled on November 18, 2017

Keywords Mobile Manipulation, Motion and Path Planning, Mapping

Abstract

In this paper, we describe an integrated strategy for planning, perception, state-estimation and action in complex mobile manipulation domains. The strategy is based on planning in the belief space of probability distribution over states. Our planning approach is based on hierarchical symbolic regression (pre-image back-chaining). We develop a vocabulary of fluents that describe sets of belief states, which are goals and subgoals in the planning process. We show that a relatively small set of symbolic operators lead to task-oriented perception in support of the manipulation goals.

 

 

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